<UserControl x:Class="Microsoft.Robotics.Manipulation.Visualization.EnvironmentDisplayView"
             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
             xmlns:helix="clr-namespace:HelixToolkit.Wpf;assembly=HelixToolkit.Wpf"
             mc:Ignorable="d" 
             d:DesignHeight="600" d:DesignWidth="600">
    <Grid>
        <helix:HelixViewport3D Name="viewport" CameraRotationMode="Trackball" ModelUpDirection="0,1,0">

            <!-- Remember to add light to the scene -->
            <helix:SunLight/>

            <helix:GridLinesVisual3D/>
            <ModelVisual3D Content="{Binding RobotModelView3DBindingSource}"/>
            <ModelVisual3D Content="{Binding FrameTrajectoryBindingSource}"/>
            <ModelVisual3D Content="{Binding StaticBackgroundModelView3DBindingSource}"/>
            <helix:PointsVisual3D Size="5" Points="{Binding PointCloudBindingSource}" Color="Red"/>

        </helix:HelixViewport3D>

    </Grid>
</UserControl>
